version: 66.12
glider: 401
mission: 19
dive: 9
start: 3 15 117 1 34 20
data:
$ID,401
$MISSION,19
$DIVE,9
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00357857
$HD_B,0.0168193
$HD_C,5.8179498e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,60
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2082
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.554909
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,-10236
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,150317,012659,4742.8696,-12224.9717,2,1.0,15,16.3,0.0,0.0,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-52.9
$GPS2,150317,013336,4742.8887,-12224.9443,3,0.9,18,16.3,0.0,0.0,9,4.6
$SPEED_LIMITS,0.100,0.235
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.097211,0.213760
$KALMAN_X,-260.394348,235.154205,-53.402115,-209.434341,-271.369965
$KALMAN_Y,-622.056030,220.462006,-165.591568,-1219.457520,-408.976074
$MHEAD_RNG_PITCHd_Wd,8.2,2066,-18.4,-10.000,-23.07,2982
$D_GRID,179
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.85,-195.5,232,1888,1655,4095,0.0,0.0,0,32,0.00,0.00,-5.07,0.000,16390,0.000,0.000,232,1888,2314,2314,4094,0,0,0,0,0,0,26.46,25.53,26.47,10.23,36.69
$GC,33,-1.85,-195.5,232,1890,2315,4095,1.5,0.0,1,62,21.38,3.50,0.00,0.000,2820,0.126,0.073,1927,610,2316,2316,4094,0,0,0,0,0,0,25.68,25.70,25.77,10.37,37.67
$GC,94,-1.85,-195.5,1927,611,2319,4094,19.3,-28.2,6,109,0.00,3.28,0.00,0.000,1030,0.000,0.035,1927,1892,2319,2319,4094,0,0,0,0,0,0,25.96,25.91,25.99,10.38,36.73
$GC,159,-1.85,-195.5,1927,1895,2321,4094,31.8,-17.1,12,177,0.00,3.53,0.00,0.000,516,0.000,0.074,1927,617,2321,2321,4094,0,0,0,0,0,0,26.34,25.84,26.35,10.38,36.33
$GC,325,-1.85,-195.5,1928,618,2327,4095,60.0,-19.8,28,343,0.00,3.30,0.00,0.000,1030,0.000,0.035,1928,1922,2328,2328,4094,0,0,0,0,0,0,26.18,26.13,26.22,10.38,36.80
$GC,394,-1.85,-195.5,1927,1923,2331,4094,73.0,-18.1,34,409,0.00,3.50,0.00,0.000,260,0.000,0.071,1928,3198,2330,2330,4094,0,0,0,0,0,0,26.54,25.98,26.55,10.38,36.92
$GC,431,-1.85,-195.5,1927,3198,2331,4095,79.8,-18.1,37,445,0.00,3.22,0.00,0.000,1030,0.000,0.033,1928,1940,2331,2331,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.38,36.33
$GC,496,-1.85,-195.5,1928,1940,2333,4095,89.9,-14.9,43,510,0.00,3.65,0.00,0.000,516,0.000,0.076,1927,598,2333,2333,4094,0,0,0,0,0,0,26.59,26.03,26.60,10.38,36.13
$GC,522,-1.85,-195.5,1927,598,2335,4095,94.2,-15.5,45,536,0.00,3.35,0.00,0.000,1030,0.000,0.037,1927,1923,2334,2334,4094,0,0,0,0,0,0,26.28,26.23,26.30,10.38,36.13
$GC,589,-1.85,-195.5,1927,1923,2337,4095,105.5,-16.4,51,604,0.00,3.50,0.00,0.000,260,0.000,0.074,1927,3197,2337,2337,4094,0,0,0,0,0,0,26.63,26.06,26.65,10.38,36.13
$GC,626,-1.85,-195.5,1927,3198,2339,4094,111.4,-16.1,54,641,0.00,3.22,0.00,0.000,1030,0.000,0.034,1928,1936,2338,2338,4094,0,0,0,0,0,0,26.31,26.25,26.34,10.38,36.61
$GC,691,-1.85,-195.5,1927,1936,2341,4095,121.3,-15.2,60,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1936,2340,2340,4094,0,0,0,0,0,0,26.66,26.68,26.67,10.38,35.90
$GC,755,-1.85,-195.5,1928,1936,2343,4095,131.2,-15.3,66,769,0.00,3.65,0.00,0.000,516,0.000,0.077,1927,593,2343,2343,4094,0,0,0,0,0,0,26.69,26.11,26.70,10.38,35.98
$GC,791,-1.85,-195.5,1928,593,2344,4095,137.3,-16.6,69,809,0.00,3.35,0.00,0.000,1030,0.000,0.037,1928,1925,2344,2344,4094,0,0,0,0,0,0,26.36,26.32,26.40,10.38,35.90
$GC,860,-1.85,-195.5,1928,1925,2347,4093,149.1,-16.5,75,878,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1925,2347,2347,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.38,35.70
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,892,-0.42,0.0,1928,2030,2348,4095,153.9,-16.7,77,922,5.12,0.08,15.27,2.012,10244,0.078,0.052,2384,1977,2081,2081,4094,0,0,0,0,0,0,26.27,24.80,23.58,10.39,35.86
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,923,begin climb
$GC,924,1.85,195.5,2386,1977,2082,4095,157.5,0.0,79,952,7.62,0.00,13.55,1.960,11270,0.039,0.000,3104,1977,1853,1853,4094,0,0,0,0,0,0,25.84,26.01,23.18,10.34,35.78
$GC,1003,1.94,252.1,3104,1977,1853,4095,153.7,8.1,86,1018,0.20,0.00,5.28,1.389,10246,0.054,0.000,3129,1977,1787,1787,4094,0,0,0,0,0,0,25.69,24.65,23.46,10.29,36.41
$GC,1069,1.94,252.1,3129,1978,1786,4094,146.7,11.4,92,1084,0.00,3.53,0.00,0.000,516,0.000,0.076,3129,714,1785,1785,4094,0,0,0,0,0,0,26.03,25.60,26.05,10.28,35.62
$GC,1105,1.94,252.1,3129,715,1785,4095,142.2,12.5,95,1120,0.00,3.20,0.00,0.000,1030,0.000,0.034,3129,1972,1784,1784,4095,0,0,0,0,0,0,25.85,25.82,25.89,10.28,35.62
$GC,1170,1.94,252.1,3129,1973,1784,4094,134.3,11.7,101,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1972,1782,1782,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.28,36.10
$GC,1234,1.94,252.1,3130,1972,1782,4095,126.6,12.1,107,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1972,1781,1781,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.28,35.90
$GC,1298,1.94,252.1,3130,1972,1780,4095,118.7,12.8,113,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1972,1779,1779,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.27,36.33
$GC,1362,1.94,252.1,3129,1973,1778,4095,110.1,13.5,119,1377,0.00,3.47,0.00,0.000,516,0.000,0.075,3130,713,1777,1777,4095,0,0,0,0,0,0,26.44,25.90,26.46,10.27,36.41
$GC,1408,1.94,252.1,3130,712,1776,4095,103.6,14.3,123,1422,0.00,3.20,0.00,0.000,1030,0.000,0.033,3130,1988,1775,1775,4094,0,0,0,0,0,0,26.18,26.13,26.21,10.27,35.82
$GC,1473,1.94,252.1,3129,1989,1775,4094,95.0,12.8,129,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1988,1773,1773,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.27,35.94
$GC,1537,1.94,252.1,3129,1988,1773,4094,86.2,14.0,135,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1988,1771,1771,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.26,36.25
$GC,1601,1.94,252.1,3130,1987,1770,4095,77.2,13.8,141,1615,0.00,3.50,0.00,0.000,516,0.000,0.075,3130,713,1769,1769,4094,0,0,0,0,0,0,26.59,26.02,26.60,10.26,35.98
$GC,1685,1.94,252.1,3129,713,1767,4094,64.0,16.4,149,1699,0.00,3.12,0.00,0.000,1030,0.000,0.032,3130,1969,1765,1765,4094,0,0,0,0,0,0,26.33,26.30,26.36,10.26,36.61
$GC,1750,1.94,252.1,3130,1969,1764,4095,54.7,13.2,155,1768,0.00,3.58,0.00,0.000,260,0.000,0.067,3129,3287,1763,1763,4094,0,0,0,0,0,0,26.65,26.10,26.67,10.26,36.73
$GC,1779,1.94,252.1,3129,3288,1764,4094,51.2,11.9,157,1794,0.00,3.28,0.00,0.000,1030,0.000,0.033,3130,2000,1762,1762,4094,0,0,0,0,0,0,26.32,26.28,26.35,10.26,36.21
$GC,1844,1.94,252.1,3129,2001,1762,4094,43.7,11.3,163,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2000,1760,1760,4094,0,0,0,0,0,0,26.67,26.70,26.70,10.26,36.10
$GC,1911,1.94,252.1,3129,2001,1760,4094,35.7,11.7,169,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2000,1758,1758,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.26,35.94
$GC,1976,1.94,252.1,3129,2001,1758,4094,28.3,11.2,175,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2000,1757,1757,4094,0,0,0,0,0,0,26.72,26.74,26.74,10.26,36.25
$GC,2040,1.94,252.1,3129,2001,1756,4094,21.4,11.1,181,2054,0.00,3.55,0.00,0.000,516,0.000,0.076,3130,694,1755,1755,4094,0,0,0,0,0,0,26.74,26.15,26.75,10.25,36.10
$GC,2154,1.94,252.1,3129,696,1752,4094,7.3,12.5,192,2168,0.00,3.15,0.00,0.000,1030,0.000,0.034,3130,1972,1752,1752,4094,0,0,0,0,0,0,26.51,26.45,26.51,10.25,35.86
$GC,2219,2.13,373.0,3129,1973,1751,4094,2.8,5.9,198,2238,0.60,0.00,6.43,0.479,10246,0.035,0.000,3195,1972,1644,1644,4094,0,0,0,0,0,0,26.50,25.89,25.43,10.25,36.06
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,0.2,1.010933
$STATE,2326,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2423,0.00,0.000,0,0,1643,376.93
$SM_GC,2.10,30.40,0.17,0.00,0.028,0.073,0.000,243,1886,1643,-7.14,0.82,376.93,0,0,1,0,0,0,26.41,26.45,26.46
$IRIDIUM_FIX,4748.51,-12337.82,150317,012757
$TT8_MAMPS,0.050932,0.241178
$HUMID,35.86
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.3,999.0
$ALTIM_BOTTOM_PING,100.4,2.3
$24V_AH,23.18,4.864
$10V_AH,9.40,5.486
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,65.325,75.050,40.525,0.000,0.000,48.189,70.398,145.850,1.250,0.000,20.026,0.000,121.649,280.938,2309.836,111.151,33.665,752.488,0.000,1962.387,0.000,7.411,0.000
$DEVICE_MAMPS,126.225,77.265,2011.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,140.150,266.935,447.118,1098.743,1923.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17816,208
$CAP_FILE_SIZE,53683,7
$CFSIZE,1024409600,1018675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150317,021548,4743.078,-12224.799,3,0.8,49,16.3,0.0,0.0,10,5.9